exotica::CenterOfMass Class Reference

#include <center_of_mass.h>

Inheritance diagram for exotica::CenterOfMass:

Collaboration diagram for exotica::CenterOfMass:

Public Member Functions
void	AssignScene (ScenePtr scene) override
void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override
void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override
int	TaskSpaceDim () override
Public Member Functions inherited from exotica::TaskMap
virtual void	InstantiateBase (const Initializer &init)
virtual void	Update (Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian, HessianRef hessian)
virtual void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi)
virtual void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi, Eigen::MatrixXdRef dphi_dx, Eigen::MatrixXdRef dphi_du)
virtual void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi, Eigen::MatrixXdRef dphi_dx, Eigen::MatrixXdRef dphi_du, HessianRef ddphi_ddx, HessianRef ddphi_ddu, HessianRef ddphi_dxdu)
virtual int	TaskSpaceJacobianDim ()
virtual void	PreUpdate ()
virtual std::vector< TaskVectorEntry >	GetLieGroupIndices ()
std::vector< KinematicFrameRequest >	GetFrames () const
Public Member Functions inherited from exotica::Object
	Object ()
virtual	~Object ()
virtual std::string	type () const
	Type Information wrapper: must be virtual so that it is polymorphic... More...
std::string	GetObjectName ()
void	InstantiateObject (const Initializer &init)
virtual std::string	Print (const std::string &prepend) const
Public Member Functions inherited from exotica::InstantiableBase
	InstantiableBase ()=default
virtual	~InstantiableBase ()=default
virtual std::vector< Initializer >	GetAllTemplates () const =0
Public Member Functions inherited from exotica::Instantiable< CenterOfMassInitializer >
void	InstantiateInternal (const Initializer &init) override
Initializer	GetInitializerTemplate () override
std::vector< Initializer >	GetAllTemplates () const override
virtual void	Instantiate (const CenterOfMassInitializer &init)
const CenterOfMassInitializer &	GetParameters () const

Private Member Functions
void	Initialize ()
void	InitializeDebug ()

Private Attributes
Eigen::VectorXd	mass_
ros::Publisher	com_links_pub_
ros::Publisher	com_pub_
ros::Publisher	goal_pub_
visualization_msgs::Marker	com_links_marker_
visualization_msgs::Marker	com_marker_
visualization_msgs::Marker	goal_marker_
bool	enable_z_
int	dim_

Additional Inherited Members
Public Attributes inherited from exotica::TaskMap
std::vector< KinematicSolution >	kinematics = std::vector<KinematicSolution>(1)
int	id = -1
int	start = -1
int	length = -1
int	start_jacobian = -1
int	length_jacobian = -1
bool	is_used = false
Public Attributes inherited from exotica::Object
std::string	ns_
std::string	object_name_
bool	debug_
Protected Attributes inherited from exotica::TaskMap
std::vector< KinematicFrameRequest >	frames_
ScenePtr	scene_ = nullptr
Protected Attributes inherited from exotica::Instantiable< CenterOfMassInitializer >
CenterOfMassInitializer	parameters_

Member Function Documentation

AssignScene()

void exotica::CenterOfMass::AssignScene ( ScenePtr  scene )

overridevirtual

Reimplemented from exotica::TaskMap.

Initialize()

void exotica::CenterOfMass::Initialize ( )

private

InitializeDebug()

void exotica::CenterOfMass::InitializeDebug ( )

private

TaskSpaceDim()

int exotica::CenterOfMass::TaskSpaceDim ( )

overridevirtual

Implements exotica::TaskMap.

Update() [1/2]

void exotica::CenterOfMass::Update ( Eigen::VectorXdRefConst  x, Eigen::VectorXdRef  phi  )

overridevirtual

Implements exotica::TaskMap.

Update() [2/2]

void exotica::CenterOfMass::Update ( Eigen::VectorXdRefConst  x, Eigen::VectorXdRef  phi, Eigen::MatrixXdRef  jacobian  )

overridevirtual

Reimplemented from exotica::TaskMap.

Member Data Documentation

com_links_marker_

visualization_msgs::Marker exotica::CenterOfMass::com_links_marker_

private

com_links_pub_

ros::Publisher exotica::CenterOfMass::com_links_pub_

private

com_marker_

visualization_msgs::Marker exotica::CenterOfMass::com_marker_

private

com_pub_

ros::Publisher exotica::CenterOfMass::com_pub_

private

dim_

int exotica::CenterOfMass::dim_

private

enable_z_

bool exotica::CenterOfMass::enable_z_

private

goal_marker_

visualization_msgs::Marker exotica::CenterOfMass::goal_marker_

private

goal_pub_

ros::Publisher exotica::CenterOfMass::goal_pub_

private

mass_

Eigen::VectorXd exotica::CenterOfMass::mass_

private

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The documentation for this class was generated from the following file:

• /tmp/exotica/exotations/exotica_core_task_maps/include/exotica_core_task_maps/center_of_mass.h